TWI693171B - Automatic displacement device for mobile vehicle and its control method - Google Patents

Abstract

An automatic displacement device for a mobile carrier, wherein the mobile carrier is for carrying at least one heavy object, and the mobile carrier includes a body, and the automatic displacement device includes: at least one weight-holding fixture for carrying the aforementioned heavy object; at least An actuator disposed on the body is mechanically connected and used to displace the weight-bearing fixture; at least one stability controller, the signal is connected to the actuator, and includes: at least one sensing element for sensing the tilt state of the body and At least one tilt state signal is sent; and at least one control component calculates the tilt state according to the received tilt state signal and drives the actuator to displace the weighted fixture for compensation.

Description

Automatic displacement device for mobile vehicle and its control method

A mobile carrier device, in particular an automatic displacement device for displacing a heavy object carried.

Traffic safety has always been one of the core issues of transportation. Moving vehicles traveling on the road need to be able to ensure that the occupants or goods transported can reach the destination point without damage. According to the National Center for Statistics and Analysis, in addition to the 42,000 deaths caused by car accidents in the United States each year, as many as 76% of the total deaths caused by car accidents each year start from vehicle overturning; on the other hand, the rate of deaths caused by overturning accidents is higher than 22% has become the deadliest type of car accident.

It can be seen that to reduce the risk of traffic accidents and improve traffic safety, the problems of collision and overturning of moving vehicles should not be ignored. The only reason why the mobile vehicle overturns is mainly because the total torque of the mobile vehicle is unbalanced. Factors that affect the various moments of a moving vehicle include the position of the center of gravity of the vehicle itself, the magnitude of inertia, and the direction and magnitude of various external forces. In particular, when sudden or uncontrolled deflection acceleration, excessive vehicle speed when turning, slippery road surface, poorly designed or inclined slope of curved road surface, or even collision, external vehicles are more likely to overturn.

The counterweight design of mobile vehicles that require traffic safety is difficult to achieve perfection. In terms of the types of mobile vehicles, large mobile vehicles, such as buses, trucks, and connecting vehicles, are usually designed to have a relatively high center of gravity, not to mention the ships sailing in the sea. In particular, when large mobile vehicles carry people or goods, most of the people or goods carried will further increase the large vehicles The center of gravity increases the risk of overturning. Even small passenger cars, recreational vehicles, etc., in order to improve the driver's vision and comfort, increase the seat height and increase the center of gravity of the mobile vehicle.

In recent years, the trend of electrification of mobile vehicles has started. The electrified mobile vehicles are in line with the trend of greening today, mainly to replace internal combustion engines as power sources for mobile vehicles through electrical energy devices. Generally speaking, electric vehicles are powered by batteries, and battery components composed of a large number of battery cells can even account for about 30% of the total weight of mobile vehicles. In this type of mobile vehicle, how to arrange the position of the battery will also affect the balance and safety of the electric vehicle in use. For example, for large electric buses, in order to increase the number of people carrying and effective arrangement space, there are even designs to place the battery on the roof of the car, but this will also simultaneously increase the risk of electric large buses overturning.

On the other hand, the current vehicle research on automatic driving will also be shown in FIG. 1, a sensor 94 is provided on the mobile vehicle 9 to sense the surrounding objects 95, and distance/speed sensing and other methods are Obstacles and personnel can automatically control braking or issue warnings; in addition, it can also actively allocate the braking force of each wheel according to the sensed conditions of each wheel. Similarly, this type of sensing signal has also been suggested to prevent the speed of the mobile vehicle from exceeding the critical point. However, in many traffic accidents, it is not just the speed and acceleration of the mobile vehicle that cause the overturning. It is more likely that an external force is added. If environmental factors such as slippery ground or snow caused the mobile vehicle to surpass the critical point unknowingly, or even large animals appear on the road, the above sensing technology cannot prevent the mobile vehicle from exceeding the road surface or falling. In fact, according to the statistics of the National Highway Safety Administration, 95% of mobile vehicle overturning accidents can be categorized as having an external force to join. For example, violations of other road users have also become the current urgent safety issues for mobile vehicles. One of the problems to be solved.

At the same time, according to the statistics of the information system of the transportation safety website in Taiwan, collisions are the most common type of accidents among all accidents. Therefore, the collision itself is also one of the main problems of traffic safety. Even as described above, according to the current technology, it is possible to try to prevent collision accidents by measuring parameters such as distance and speed, such as the ADAS system that has been widely discussed in recent years; even relying on wireless signal transmission between mobile vehicles to communicate with each other (V2V) In theory, it is possible to reduce the probability of collisions by sensing technology in conjunction with the automatic control driving brake system or even the power system. However, there is still no technology to ensure that any collisions are completely avoided.

One of the risks that cannot be ruled out is the problem that the mobile vehicle supplemented by the sensing function is too late to respond. This risk also exists on the manually operated and automatically controlled mobile vehicle. Once the brake system cannot effectively stop the mobile vehicle before the collision Or, when the mobile vehicle faces a foreign object approaching at high speed without enough space to avoid it, the personnel, cargo, or even the battery on the mobile vehicle that is easy to ignite due to damage, heat, etc. will be directly Or indirectly face the energy transfer caused by the collision, causing damage to limbs and even life.

In addition to the unresponsive situation, the vehicle-to-vehicle communication (V2V) and even the signal exchange between the vehicle and surrounding objects (V2X) are not foolproof, and the vehicle-to-vehicle communication (V2V) system requires consumers to bear additional costs, not only equipped The ratio of vehicle-to-vehicle communication (V2V) is insufficient. In particular, many surrounding objects, such as trees on the roadside or elks that break into the lane, cannot provide any communication signals at all. Therefore, despite the advent of the vehicle-to-vehicle communication system (V2V), the problem of reducing the risk of traffic accidents cannot be fully answered.

Therefore, how to effectively reduce the risk of collision or loss of control, and improve the handling and stability of mobile vehicles; or, how to improve mobile vehicles when it is difficult to avoid overturning collisions Or the safety factor of the goods, personnel, batteries, etc. carried in the electric vehicle, to keep it away from the point of impact is a problem that needs to be solved urgently in this technical field.

An object of the present invention is to provide an automatic displacement device for a moving carrier, which displaces a weight-retaining fixture by an actuator to adjust the position of the center of gravity of the moving carrier and improve its maneuverability.

Another object of the present invention is to provide an automatic displacement device for a moving vehicle, which displaces a weight-holding fixture by an actuator to dynamically adjust the center of gravity and force distribution of the moving vehicle, increase the critical value of the moving vehicle, and reduce dumping risks of.

Another object of the present invention is to provide an automatic displacement device for mobile vehicles, which connects the actuator with a stable controller signal, and displaces the weight-retaining fixture to improve the safety factor of various types of mobile vehicles, so that it has good use elasticity.

Another object of the present invention is to provide an automatic displacement device for mobile vehicles, which connects the actuator displacement weight-bearing fixture through the stability controller signal, reduces the need for emergency braking when encountering road conditions, and improves the comfort of mobile vehicles .

A further object of the present invention is to provide an automatic displacement device for mobile vehicles. With mature sensors and actuators, weight-holding fixtures and other mature and energy-produced equipment on the market, it can be extremely economical. Under the production cost, the safety of mobile vehicles is greatly improved.

Yet another object of the present invention is to provide an automatic displacement control method for mobile vehicles. The actuator is used to displace the weight-retaining fixture. Even if it is implemented on an independent mobile vehicle, it does not need to rely on surrounding objects to provide the Internet of Things or the Internet of Vehicles. It can improve the balance and handling of mobile vehicles and effectively improve their safety.

Yet another object of the present invention is to provide an automatic displacement control method for mobile vehicles In this method, the displacement of the actuator is provided with buffer feedback by the heavy fixture, so that when a traffic accident occurs, the impact on people or battery cells in the moving vehicle is reduced to control the damage.

According to an automatic displacement device for a mobile carrier disclosed in the present invention, wherein the mobile carrier is for carrying at least one heavy object, and the mobile carrier includes a body, the automatic displacement device includes: at least one weight-retaining fixture for Carrying the aforementioned heavy objects; at least one actuator provided in the above-mentioned body, which is mechanically connected and used to displace the weight-bearing fixture; at least one stabilization controller, the signal is connected to the above-mentioned actuator, and includes: at least one sensing element for sensing Measuring the tilting state of the body and sending at least one tilting state signal; and at least one control component calculating the tilting state according to the received tilting state signal and driving the actuator to displace the weighted fixture for compensation.

With the actuator and the weight-retaining fixture disclosed in the present invention, the members on the moving carrier or the battery core, for example, can be used as a tool to offset the center of gravity, effectively compensate the bias of the center of gravity, or change the moving carrier when turning The center of gravity increases the centripetal force, which improves the handling and safety of the mobile vehicle; it can also allow the internal passengers to stay away from the impact point or dumping contact position when the mobile vehicle is about to collide or dump, increasing the buffer space and significantly reducing the mobile vehicle The risk factor in the event of a collision or dumping accident, under the circumstances of limited cost increase, significantly changes the safety of existing mobile vehicles and achieves revolutionary improvements.

1. 1’, 1”, 1”’, 1””: automatic displacement device

11, 11’, 11", 11''', 11'''': weighted retainer

111, 111’, 111", 111''', 111'''': bearing assembly

113, 113’, 113’, 113''', 113'''': buffer components

13, 13’, 13", 13''', 13'''': actuator

15, 15’, 15”: Stable controller

151, 151’, 151'', 151''', 151'''': induction components

153, 153’, 153", 153''', 153'''': control components

16''', 16'''': safety controller

165''', 165'''': ranging/speed measuring unit

167''': positioning unit

169''': memory unit

61, 63, 65: Steps of the first embodiment

61’, 63’, 65’: Steps of the second embodiment

61”, 63”, 65”: Steps of the third embodiment

71''', 731''', 733''', 75''', 77''': the steps of the fourth embodiment

71``'', 75'''', 77'''': the steps of the fifth embodiment

9, 9’, 9", 9''', 9'''': mobile vehicle

91, 91’, 91", 91''', 91'''': body

92, 92’, 92", 92''', 9'''': heavy objects

93, 93’: wheels

94: Sensor

95: surrounding objects

FIG. 1 is a schematic diagram of a moving vehicle equipped with sensors in a conventional technique.

FIG. 2 is a schematic perspective view of a first preferred embodiment of the present invention, used to illustrate the structure of the present invention and A possibility for installation in mobile vehicles.

FIG. 3 is a schematic perspective view of the embodiment of FIG. 2 for explaining the structure of the present invention.

FIG. 4 is a flowchart of the embodiment of FIG. 2 for explaining the method of the present invention.

FIG. 5 is a perspective schematic diagram of a second preferred embodiment of the present invention, used to illustrate the structure of the present invention and one of the possibilities of being installed in a mobile vehicle.

FIG. 6 is a perspective schematic view of the embodiment of FIG. 5 for explaining the structure of the present invention.

FIG. 7 is a schematic front view of the embodiment of FIG. 5 on an actual road, for explaining the situation of the present invention in a general use state of a mobile vehicle.

FIG. 8 is a schematic front view of the embodiment of FIG. 5 on an actual road, and is used to explain the compensation performed by the present invention when the mobile vehicle encounters a surface tilt state.

FIG. 9 is a flow chart of the embodiment of FIG. 5 for explaining the method of the present invention.

FIG. 10 is a three-dimensional transparent schematic diagram of the third preferred embodiment of the present invention, which is used to explain the structure of the present invention and one of the possibilities of applying it to a moving vehicle.

FIG. 11 is a schematic cross-sectional view of the embodiment of FIG. 10, used to illustrate a part of the structure of the present invention.

FIG. 12 is a flowchart of the embodiment of FIG. 10, which is used to explain the method of the present invention.

FIG. 13 is a perspective perspective schematic view of a fourth preferred embodiment of the present invention, for explaining the structure of the present invention and a possibility of being installed in a moving carrier.

FIG. 14 is a schematic perspective view of the embodiment of FIG. 13 for explaining the structure of the present invention.

FIG. 15 is a block diagram of the embodiment of FIG. 13 for explaining the relationship between the components of the present invention.

FIG. 16 is a flowchart of the embodiment of FIG. 13 for explaining the method of the present invention.

17 is a perspective schematic perspective view of a fifth preferred embodiment of the present invention, used to illustrate the structure of the present invention to And a possibility to install in mobile vehicles.

Fig. 18 is a block diagram of the embodiment of Fig. 17 for explaining the relationship between the components of the present invention.

FIG. 19 is a flowchart of the embodiment of FIG. 17 for explaining the method of the present invention.

The foregoing and other technical contents, features and effects of the present invention will be clearly presented in the following detailed description of the preferred embodiments with reference to the drawings; in addition, in each embodiment, the same elements will be similar The label indicates.

Please refer to FIG. 2 to FIG. 3, the first preferred embodiment of the present invention, the moving vehicle 9 is a general passenger car as an example, and the occupants other than the driver are used as the weight 92 in this example, the automatic displacement device 1 It is installed on the body 91 of the passenger car to move the rest of the occupants except the driver. In addition to the driver's seat in the front seat, there are, for example, two passenger seats in the rear seat. In order to obtain the maximum center of gravity displacement in this example, the rear seats in this example are provided separately. The occupant seat as the weight-retaining anchor 11 includes a seat cushion and a backrest as a bearing assembly 111, and a seat belt that restrains the occupant and serves as a buffer assembly 113. An actuator 13 (Actuator) is mechanically connected to the bottom of each carrying component 111. This example is explained as a helical shaft force actuator. However, those skilled in the art can easily know that oil pressure and air pressure The actuators in different ways can be easily replaced without affecting the essence of the invention. The other end of the aforementioned actuator 13 is respectively fixed to the skeleton position of the body 91 of the passenger car, so as to separately apply the force to displace the weight-retaining fixture 11 and the weight 92 carried thereon, and can also be supplemented by slide rails and supports Frame (not shown) to support the weighted fixture 11 together and reduce friction.

Please also refer to Fig. 4 for the bearing positions of the front and rear wheels 93 in this example. A force sensing unit for sensing pressure, for example, in a resistive manner is provided respectively, and the force distribution of each tire is sensed as a tilt state signal. For ease of description, each force sensing unit defined here belongs to a sensing component 151 . After sensing the load bearing at each wheel via step 61, the sensing component 151 transmits a tilting state signal to a control component 153, which is exemplified as a passenger car computer, and the sensing component 151 through, for example, a controller area network (CAN Bus) Together with the control module 153, it becomes the stability controller 15.

If the aforementioned passenger car is about to enter a left-turning road in a mountainous area at a high speed, then in step 63, the control component 153 receives the force distribution of each tire from the sensing component 151 and converts the received tilt from the aforementioned force sensing unit Judging by the status signal, if it is found that the speed and relative inertia of the passenger car may be too high at this time, there is a risk that the inertia cannot be overcome smoothly, and then as shown in step 65, the control component 153 drives the actuator 13 to displace the weighted fixture 11. Move the front passenger seat and the rear seat occupants and seats to the left, so that when the passenger car enters the left-curved road, the overall center of gravity of the vehicle shifts to the left. With this center of gravity movement, in accordance with the original tilt of the road surface to the left And to provide better centripetal force and torque to achieve the compensation effect, assist the passenger car to overcome the inertia and steer smoothly, and the safety of the vehicle is greatly improved. Of course, the above-mentioned buffer component may also be a foam material or an airbag and the like.

On the other hand, since the force-sensing unit of this example can separately sense the gravity shared by each of the above-mentioned wheels 93, it can detect the weight distribution of the body 91 of the moving vehicle 9 and determine the tilt state of the body 91. The control component 153 can also drive the actuator 13 to change the position of each seat, so that the center of gravity of the body 91 of the moving vehicle 9 is located at a predetermined equilibrium position, thereby achieving a compensation effect, allowing the passenger car to travel In each wheel 93, the load is equal, avoid each wheel 93 Uneven wear improves the stability and comfort of the mobile vehicle 9 during the driving process; in particular, compared with the current method that some researchers propose to use emergency braking to overcome the risk of vehicle deflection and possible departure from the road, the present invention can reduce the emergency braking The situation not only provides safety and handling, but also enhances the comfort of the ride. Of course, those skilled in the art can easily know that the sensing component in the present invention can adopt or assist with a tracking body control system, an anti-lock braking system and other body dynamic stabilization systems.

Of course, those skilled in the art can easily know that the mobile vehicle of the present invention is not limited to small passenger cars, whether it is small trucks, large trucks, or even electric vehicles, buses and other different land vehicles or water vehicles such as ships. Be applicable. Please refer to FIGS. 5-6. The second preferred embodiment of the present invention is applied to a large mobile vehicle 9′ such as an electric bus. Due to the number of people on the bus and their respective positions, they cannot be easily positioned like a passenger car. The automatic displacement device 1'of this embodiment uses the battery module of the electric bus as the heavy object 92'. This battery module is often composed of more than a thousand battery cells, and the battery weight can even reach 30% of the total weight of the empty bus %.

Generally speaking, if this kind of battery module is installed on the bus roof to increase the internal space of the bus, it will undoubtedly greatly increase the center of gravity of the vehicle, resulting in the deterioration of the handling of the bus itself and the reduction of the safety of the bus. However, the battery in the present embodiment is reversed, and is installed on the roof of the electric bus body 91'. For this reason, the electric bus body 91' of this embodiment is provided with an actuator 13' exemplified as an X-Y bidirectional translation rail, whereby the weighted holder 11' and the battery module provided thereon are horizontally moved bidirectionally. The weight-retaining fixture 11' in this example includes a heat dissipation box for accommodating the battery module as the carrying component 111' in this example, and is filled with a buffer component 113' with good heat dissipation, which is explained as a type of heat dissipation in this example Resin material reduces the process of shifting the battery module Medium, the probability of collision between the battery module and the heat dissipation box.

In addition, a three-dimensional gravity sensor (G-sensor) is installed on the body 91', as the sensing component 151' of this embodiment, by measuring the body 91' of the moving carrier 9'in different directions by measuring Displacement, acceleration, etc. are output to the control unit 153' as a tilt state signal, and then the control unit 153' analyzes the tilt state of the moving vehicle 9'and provides appropriate compensation. In this example, when many passengers get on the front door of the electric bus and the center of gravity is biased toward the door side, the aforementioned sensing component 151' and the control component 153' together constitute the stability controller 15' of the present invention, thus the battery on the roof The module is moved to the rear side and the driving side, so that the center of gravity of the electric bus is still maintained at the original structural center position, which not only improves the driving safety and handling, but also makes the stress of each wheel 93' balanced, and the wear is not different. , Thereby extending the service life of the wheel 93'. In particular, the problem of improving the center of gravity caused by placing the battery module on the roof of the vehicle disappears invisible, making the low-chassis electric bus feasible, and the availability of space in the vehicle increases synchronously.

Please refer to FIG. 7 and FIG. 8 together. As described in the previous embodiment, when the electric bus is about to enter a curve and the speed is too fast, it senses and transmits the tilt status signal to the control component 153' through the sensing component 151' , The control component 153' can displace the weight 92' above the body 91' in a corresponding direction, thereby providing a center of gravity offset, increasing the centripetal force toward the curve, thereby compensating for the inertia pulling the electric bus and reducing the body 91' Risk of overturning in the direction of inertia. In addition, when the moving vehicle 9'travels uphill or downhill, it can increase the stability of the bus by increasing the body 91' by moving the weight 92' to move the center of gravity forward and backward during climbing and downhill.

Even, as shown in FIG. 9 again, this example is a large-scale mobile vehicle of an electric bus and has a fixed traffic route, and a positioning unit (not shown) is included in the sensing component 151'. This example is explained as a A remote positioning GPS system. Due to the evolution of modern communication technology, the control components of the bus can store real-time weather data at the time of departure, for example, the situation of sleet is about to occur, because the weather reaction time is shorter, at this time, as in step 61', by The sensing component 151' transmits the positioning signal as a tilt state signal to the control component, and then, as shown in step 63', the control component 153' stores the road data stored in the memory unit (not shown) in the control component 153' via the control component 153' Receive a positioning signal about the body 91' received by the remote GPS from the positioning unit, and the predicted change of the body 91' can be judged as the tilt state; in addition to reminding the driver to reduce the vehicle speed, if it is judged that there is a tilt state, then step 65', The control component 153' can pre-displace the above-mentioned actuator 13' and the weight 92' on it, change the position of the center of gravity of the moving vehicle 9', provide the centripetal force of turning as compensation, and maintain the stability and safety of the body 91' Sex.

For the third preferred embodiment of the present invention, please refer to FIGS. 10-12, the automatic displacement device 1" is provided on the body 91" of a mobile vehicle 9" traveling on the water surface. The mobile vehicle 9" is explained here For a ship. In order to save space for description, the same parts as the first preferred embodiment are not repeated in this example. In this example, the heavy object 92" is exemplified as the cargo container carried in the ship cabin, supported and protected by the weight holder 11", wherein the bearing component 111" in this example is a cargo platform equipped with a sliding track, There are a plurality of spring clamping plates as buffer components 113" sandwiched between the goods in the horizontal direction. In this example, in order to provide enough energy to displace the cargo, the actuator 13" is released as a hydraulic actuator and is connected to the body 91", and the sensing component 151" of the stability controller 15" is explained as a gyroscope, which is a three-dimensional Gravity/inertial sensing unit. First, as in step 61", the gyroscope accurately senses the tilting state signal of the body 91" of the mobile vehicle 9". After step 63", the control component 153" receives the tilting state signal of the sensing side component 151" to calculate the above-mentioned body And tilt the actuator 13” above, and finally Step 65", the actuator 13" displaces the above-mentioned weight-retaining fixture 11" and the weight 92" on it together to provide compensation for the corresponding tilting state signal, and the tilt of the balance body 91" does not cause toppling or even overturning, protecting the heavy 92" security.

As can be easily understood by those skilled in the art, the mobile vehicle automatic displacement device of the present invention is not limited to maintaining the balance of the mobile vehicle, but can also be used for damage control in emergency. The fourth preferred embodiment of the present invention, referring to FIGS. 13 to 15, is to install the automatic displacement device 1 ″ on a mobile vehicle 9 ′ ″body 91 ″″ such as an electric recreational vehicle. When an electric vehicle is hit, the electric energy stored in the battery module may be short-circuited due to the damage of the battery core due to the impact, so that the electric energy is quickly released in a large amount, that is, burned, fired or even exploded. Therefore, in this example, the weight 92 ″ includes both the battery and the passenger carried on the aforementioned body 91 ″.

In this example, the load-bearing fixtures 11 ″ for the passenger and the battery respectively include a seat kit other than driving and a set of suspension devices for fixing the battery module. The aforementioned weight-retaining fixture 11''' is fixed to the actuator 13''' via welding and screwing, respectively. The weight-retaining fixture 11''' is explained as the seat and The seat belt serves as the loading component 111 ″ and the buffer component 113 ″, and further includes a suspension bracket for carrying the battery module, which is also exemplified as the loading component 111 ″, and a buffer as a buffer battery module Spring element of assembly 113"'.

On the other hand, the mobile vehicle 9"' is equipped with a safety controller 16"' that is communicatively connected to the aforementioned actuator 13"'. In this example, the safety controller 16'" consists of a plurality of sensing components 151" 'And a control module 153'''. The aforementioned control component 153''' is responsible for receiving all relative motion status signals from the aforementioned sensing component 151'''. The sensing component 151''' is composed of a plurality of ranging/velocity units 165'''' and a positioning unit 167''''; wherein, the ranging/velocity unit 165''' is explained as one in this example An optical emission/recovery measuring unit of the light reaching system, and the positioning unit 167"' is used to obtain the position and positioning signal of the body 91"' from the GPS. Of course, those with ordinary knowledge in the technical field can easily know that the lidar system in this example can easily replace the ranging/velocity unit that also belongs to the present invention by other methods such as radar and G-sensor, without affecting the essence of the present invention. .

Please refer to FIG. 16 together, according to step 71'', the light reaching system emits laser light and senses the laser light reflected by surrounding objects as a speed signal for determining the body 9''', and the positioning unit The received positioning signal is used as a relative motion state signal, and then, as described in step 731'' and step 733'', the received signal is transmitted to the control component 153''', and at the same time, the control component 153 '''Compare the received positioning signal with the above road data, in step 75''' as the reference basis for judgment; if there is unavoidable dumping or even overturning, follow step 77''' The retainer 11''' is concentrated to the center of the mobile vehicle body, so that the occupant and the battery module are synchronized away from the impact. On the one hand, it protects personal safety and strives for buffer space; on the other hand, it also prevents the battery module from being damaged by direct impact and short circuit. The role of buffer feedback. Further, the aforementioned buffer assembly 113''' can also assist in absorbing external forces that may be transmitted to the weight 92''', and increase the safety of the system. On the other hand, the control component 153'' in this example may further include a memory unit 169'' that stores road data, thereby comparing the positioning signal with the road data stored in the memory unit 169''''. Accurately confirm the traffic accident risk such as the location of the mobile vehicle 9''' and the degree of collision risk.

For the fifth preferred embodiment of the present invention, please refer to FIGS. 17 to 19. The mobile carrier 9"" is a small truck that is often used in logistics and transportation, and is equipped with an automatic displacement device 1"". A plurality of actuators 13"" are mechanically fixed to the body 91"" of the moving vehicle 9"". then, On a plurality of actuators 13"" that are crossed side by side and mechanically fixed to the body, the lock is inherently loaded with a weight 11"". In this example, the load-bearing assembly 111'''' of the load-bearing fixture 11'''' is a cargo compartment, and the load-bearing fixture 11'''' includes the heavy object 92'' which is installed in the cargo compartment and exemplified as cargo The shock-absorbing airbag in between acts as a cushioning component 113''.

The safety controller 16'''' provided on the body 91'''' includes a sensing component 151'''' and a control component 153'''', the aforementioned sensing component 151'''' includes a speed/distance measuring unit 165'''', this example is interpreted as a radar system. At step 71"", the speed/distance measuring unit 165"" interprets the surrounding objects, in this example as a tree, and the relative distance and relative speed signals relative to the body 91"" are sent as relative motion status signals. Step 75'': When the surrounding objects approach the body 91'''' at a relative speed that cannot be avoided by other means, it can be judged that there is a risk of a traffic accident. At this time, a signal is issued to instruct the actuator 13'''' to enter Step 77"", so that the above-mentioned weight-retaining fixture 11"" and the weight 92"" carried on it are displaced to the limit away from the impact surrounding objects to the limit, providing buffer feedback Space, so that the loaded goods will not be easily damaged due to impact, reducing the damage caused by impact or dumping. Of course, in addition to the simple traffic accident situations exemplified above, those skilled in the art can easily understand that the present invention is also used to determine and provide buffered feedback of complex traffic accident risk combined by collision risk and dumping risk, thereby greatly improving the mobile load It is safe and stable.

However, the above are only the preferred embodiments of the present invention, and cannot limit the scope of the implementation of the present invention. Any simple equivalent changes and modifications made according to the scope of the patent application of the present invention and the content of the description of the invention should be It still falls within the scope of the invention patent.

1: automatic displacement device

11: Weight-retaining fixture

111: bearing component

113: Buffer component

13: Actuator

15: Stability controller

151: Induction component

153: Control components

9: mobile vehicle

91: Ontology

92: Heavy

93: Wheel

Claims (15)

An automatic displacement device for a mobile carrier, wherein the mobile carrier is for carrying at least one heavy object, and the mobile carrier includes a body, and the automatic displacement device includes: at least one weight-holding fixture for carrying the aforementioned heavy object; at least An actuator disposed on the body is mechanically connected and used to displace the weight-bearing fixture; at least one stability controller, the signal is connected to the actuator, and includes: at least one sensing element for sensing the tilt state of the body and At least one tilt state signal is sent; and at least one control component calculates the tilt state according to the received tilt state signal and drives the actuator to displace the weighted fixture for compensation. The automatic displacement device for a mobile vehicle as described in item 1 of the patent application scope, wherein the sensing component includes a three-dimensional gravity/inertial sensing unit provided on the body. The automatic displacement device for a mobile vehicle as described in item 1 of the patent application range, wherein the mobile vehicle further includes a plurality of wheels carrying the body, and the sensing component includes a force sensing unit disposed at the wheel carrying the body . The automatic displacement device for mobile vehicles as described in item 1, 2 or 3 of the patent application scope, wherein the sensing component further includes a positioning unit for obtaining a positioning signal where the body is located, and the control component further includes a set of storage A memory unit with road data is used to compare the positioning signal so that when the main body is about to change direction, the actuator is pre-driven to displace the weighted fixture to provide centripetal force when the direction changes. The automatic displacement device for mobile vehicles as described in item 1 of the patent application scope, The holder further includes: at least one bearing component carrying the weight, and a buffer component that buffers the weight and the bearing component at intervals in the horizontal direction. A control method for an automatic displacement device for a mobile vehicle, for a body of a mobile vehicle to perform at least one compensation by displacing a heavy object with at least one automatic displacement device for a mobile vehicle, the automatic displacement device for a mobile vehicle includes at least one A load-bearing fixture for carrying and fixing a heavy object, at least one actuator mechanically connected to the load-bearing fixture, and at least one stabilization controller for driving the actuator, the stabilization controller includes at least one sensor Component and at least one control component, the actuator is mechanically connected to the body respectively, and the control method of the automatic displacement device for the moving vehicle includes the following steps: a) sensing and outputting at least one tilt state signal by the sensing component; b ) The control component receives the tilt state signal, calculates the tilt state of the body according to the tilt state signal, and drives the actuator; and, c) the actuator displaces the weighted fixture to provide compensation. The method for controlling an automatic displacement device for a mobile vehicle as described in item 6 of the patent application scope, wherein the sensing component further includes a positioning unit, and the control component further includes a set of memory units storing road data, wherein step b ) Further includes receiving a positioning signal from the positioning unit and comparing it with the road information; and in step b), when the control component determines that the body is about to change direction based on the positioning signal, in step c), the control The component instructs the actuator to move The heavy fixture provides the centripetal force when changing the direction of the body. An automatic displacement device for a mobile carrier, wherein the mobile carrier is for carrying at least one heavy object, and the mobile carrier includes a body, and the automatic displacement device includes: at least one weight-holding fixture for carrying the aforementioned heavy object; at least An actuator provided on the body is mechanically connected and used to displace the load-bearing fixture; at least one safety controller for driving the actuator includes: at least one sensing component for sensing between the body and surrounding objects Relative motion state and output a relative motion state signal; and at least one control component that receives the relative motion state signal, when the control component judges that there is a risk of a traffic accident according to the relative motion state signal, it will drive the actuator Displace the aforementioned weighted fixture for buffer feedback. The automatic displacement device for a mobile vehicle as described in item 8 of the patent application range, wherein the sensing component includes at least one ranging/speed measuring unit. The automatic displacement device for a mobile vehicle as described in item 9 of the patent application scope, wherein the above-mentioned ranging/velocity unit includes an optical injection/recovery measuring unit. The automatic displacement device for mobile vehicles as described in item 9 of the patent application scope, wherein the sensing component further includes a positioning unit for obtaining a positioning signal where the body is located, and the control component further includes a set of road data stored Memory unit for comparing the above positioning signals. The automatic displacement device for a mobile vehicle as described in items 8, 9, 10, or 11 of the patent application scope, wherein the weight-bearing fixture further includes: at least one bearing component carrying the weight, and; Buffer components for buffering the above-mentioned weights and the above-mentioned load-bearing components at intervals in the horizontal direction. A control method for an automatic displacement device for a mobile vehicle, for a body of a mobile vehicle to perform at least one buffer feedback by at least one automatic displacement device for a mobile vehicle to translate a weight, the automatic displacement device for a mobile vehicle includes at least A load-bearing fixture for carrying and fixing heavy objects, at least one actuator mechanically connected to the load-bearing fixture, and at least one safety controller for driving the actuator, the safety controller includes at least one sensor Components and at least one control component, the actuators are respectively mechanically connected to the body, and the control method of the automatic displacement device for the moving vehicle includes the following steps: a) sensing and outputting at least one relative motion state signal by the sensing component; b) The control component receives the relative motion status signal, and based on the relative motion status signal, determines that there is a risk of a traffic accident, the actuator will be driven; and, c) The actuator is displaced by the actuator Provide buffer feedback. The control method of the automatic displacement device for mobile vehicles as described in item 13 of the patent application scope, wherein the sensing component further includes a positioning unit and a ranging/speed measuring unit, and the control component further includes a set of stored road data Memory unit, wherein the relative motion state signal of step a) is a speed signal including the body; step b) further includes a sub-step b1) of receiving a positioning signal from the positioning unit and comparing with the road data; and receiving Sub-step b2) of the speed signal of the body; and when the control component determines that the body is at risk of tipping in step b), the control component instructs the actuator to position the weight-retaining fixture in step c) Towards the body The displacement of the centroid position serves as a buffer feedback. The method for controlling an automatic displacement device for a mobile vehicle as described in item 13 of the patent application scope, wherein the sensing component includes at least one ranging/velocity measuring unit, wherein the relative motion state signal of step a) is the body and at least one Relative distance and relative speed signals of surrounding objects; and when the control component determines that the main body and the surrounding objects are at risk of collision in step b), in step c) the control component instructs the actuator to apply the weight The position of the holder is displaced away from the surrounding objects as a buffer feedback.

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